SU901046A1 - Manipulator - Google Patents

Description

(54) MANIPULATOR

I

The invention relates to automatic loading devices and can be used for operation in automated machine tools and automatic lines.

A manipulator is known, containing a base, a rotary column, mechanical arms pivotally mounted on the body, a movable plate, also mounted on the column, and pivotally connected by means of levers with mechanical arms, and a plate moving actuator t P.

The disadvantage of this manipulator is the complexity of the design, due to the presence of a large number of moving elements, which complicates the design as a whole.

The purpose of the invention is to simplify the design.

The goal is achieved by the fact that the manipulator is equipped with guides and rollers mounted 1m on the plate and interacting

With these directions, they are made in the form of pipes and are pipelines for supplying and discharging working fluid to mechanical hands.

FIG. 1 shows the manipulator, general view; in fig. 2 is a section A-A in FIG. one.

The manipulator contains a fixed base 1, inside of which a rotational drive is placed, consisting of two

10 hydraulic cylinders 2 and 3, in which piston rails 4 and 5 are located, which form gear-rack gears with gear wheel 6. Gear 6 is fixed motionless using the pinch

5 connections on the shaft 7, having annular grooves on the outer surface and serving as a movable part of the collector 8, intended for supplying and discharging the working fluid

Claims (2)

20 to the executive bodies of the manipulator. The shaft 7 is rigidly attached to the shaft (- the rotary column consisting of the bottom plate 9, four cylindrical tubes 10, two of which are simultaneously guides for the mechanism of expansion of the actuators, the top plate II, on which the shaft is fixed the executive bodies are mechanical arms 12 with grippers 13 and drives 14 displacing grips in planes perpendicular to the axis of mechanical arms 12. Flexible pipes 15-17 are connected via choke pipes to highways made inside cylindrical tubes 10, and with trubopr waters laid inside the mechanical arms 12. The mechanism of extension of the mechanical arms 12 consists of a power hydr cylinder 18 attached by the bottom cover of the rodless cavity to the bottom plate 9. The stem 19 of the hydraulic cylinder 18 is connected to the movable plate 20 in which two pairs of roller axles 21 are pressed and 22 together with two pairs of rollers 23 and 24, which are in constant contact with two cylindrical directions 10. Roller axles 21 and 22 are connected to each other by means of strips 25, which are pressed into supporting fingers 26, supporting two pairs 27 and 28 mechanical arms 12. The adjusting screw 29 is slogkit to limit the angle of expansion of the mechanical arms 2. The nozzles 30 and 31 are used to supply and discharge the working fluid. The manipulator works as follows. When the working fluid is fed, alternately to each of the pistons of the hydraulic cylinders 2 or 3, the piston rails 4 and 5 and the gear 6 connected with them move, which is rigidly connected through a keyway connection of the shaft 7 to the rotary column of the manipulator. The operation of the mechanism for extending mechanical arms 12 is barely. The working fluid is supplied from the hydraulic system of the manipulator and flows through the inlet fitting 30 to the corresponding groove of the shaft 7, then passes through the axial drilling of the shaft 7, the channel in the bottom plate 9 and reaches the rodless cavity of the hydraulic cylinder 18, causing the rod 19 to extend. turn through the movable plate 20, roller axles 21 and 22, rollers 23 and 24, strips 25, support fingers 26 and gigs 27 and 28 carry out the expansion of mechanical arms 12. Lowering mechanical arms 12 occurs in a similar way with the only difference being that Jew The stem comes from the corresponding channel of the bottom plate 9 to the rod cavity of the hydraulic cylinder 18. The working fluid is supplied by all the other movable elements of the manipulator through the manifold 8, from which the working fluid flows through the pipes 10 through the connecting plates and flexible pipes 15-17 and lines made inside the mechanical arms 12 to the hydraulic cylinders for moving the arms. The manipulator allows freeing operators and obtaining a parallel cycle of machining one part on two machines, for example, semi-automatic lathes. Claim 1. A manipulator comprising a base, a rotary column, mechanical arms pivotally mounted thereto, a movable plate also mounted on the column and pivotally connected by means of levers with mechanical arms, and a plate movement actuator characterized in that simplifying the design, it is equipped with guides and rollers mounted on a plate and interacting with these guides. 2. A manipulator according to claim 1, characterized in that the guides are made in the form of pipes and are pipelines for supplying and discharging working fluid to mechanical hands. Sources of information taken into account during the examination 1. Japanese Application No. 49- 3106), cl. B 25 J I1 / 00, 1974. / 7 /five 1 year. tHhik. 28 6 W 0 25